KR102304982B1 - Height adjustable walking aids and control systems of thereof - Google Patents

Abstract

a leg body having an accommodating space therein; A driving body positioned in the receiving space and composed of a combination of a first driving body and a second driving body, the leg body and a slope coupled through the upper central region of the driving body, the outer surface of which is formed in a downward conical shape a variable leg driving module including a switch including a portion and a driving elastic body coupled between an outer surface of the driving body and an inner surface of the leg body; and a variable leg formed at one end of a coupling part that is vertically movable or fixed inside the driving body, and when a vertical pressure is applied to the switch, the first driving body and the second driving body are spaced apart due to the inclined part, and the The variable leg provides a height-adjustable walking aid and a control system therefor, characterized in that the length is variable by moving upward or downward by being released.

Description

Height adjustable walking aids and control systems thereof

The present invention relates to a height-adjustable walking aid and a control system thereof, and to a height-adjustable walking aid and a control system thereof for safe walking and resolving social isolation of the elderly.

With the development of living culture and medical technology around the world, life expectancy is extended, the elderly population is rapidly increasing, and we are entering an aging society, and Korea is also rapidly entering. In the elderly stage, which is the last stage of the life cycle, physical functions are aging and accompanying problems are accompanied, and even if they do not get sick, physical problems can cause mental and social disability and cause conflict.

For example, sarcopenia among physical changes in the elderly may cause asymmetry of the body, and internally decreased sensation may increase the incidence of falls during exercise or movement. This incurs economic and social costs, which can also be said to be at a level that cannot be ignored.

To solve this problem, a walker (walker) can be used as a mobility aid. It can help you move easily on flat ground, but for the elderly who lack walking strength on irregular slopes or stairs, you can use a walker to climb stairs or obstacles. It can be difficult, and walking downhill or uphill has a limit that can be dangerous because it is difficult to focus.

To solve this problem, a walking aid having an automatic control function has been developed. Currently, walking aids with automatic control function have already been commercialized and imported in Japan. For example, a Japanese company, Kowa Manufacturing, has released a 'little keypace' that adds an automatic control function and adds an automatic walking assistance function on a slope. . Due to the nature of Korea, where there are many mountainous areas and slopes, walking aids that can be easily controlled are essential for the elderly with limited mobility, but they are not easily distributed due to their high price.

Korean Patent Publication No. 10-2015-0050738 (published on: May 11, 2015) Korean Patent Publication No. 10-2020-0004147 (published date: January 13, 2020)

An object of the present invention is to provide a height-adjustable walking aid capable of adjusting the height according to stairs or slopes and reducing the weight thereof, and a control system thereof.

In addition, another technical problem to be achieved by the present invention is to provide an automatic control function to provide a height-adjustable walking aid capable of ensuring safety and psychological stability of walking on an incline and a control system thereof.

The object of the present invention is not limited to the object mentioned above, and other objects not mentioned will be clearly understood by those of ordinary skill in the art to which the present invention belongs from the following description.

In order to solve the above problem, the present invention includes a leg body having a receiving space therein; A driving body positioned in the receiving space and composed of a combination of a first driving body and a second driving body, the leg body and a slope coupled through the upper central region of the driving body, the outer surface of which is formed in a downward conical shape a variable leg driving module including a switch including a portion and a driving elastic body coupled between an outer surface of the driving body and an inner surface of the leg body; and a variable leg formed at one end of a coupling part that is vertically movable or fixed inside the driving body, and when a vertical pressure is applied to the switch, the first driving body and the second driving body are spaced apart due to the inclined part, and the The variable leg can provide a height-adjustable walking aid, characterized in that the length is variable by moving upward or downward by being released.

In the variable leg, when the vertical pressure on the switch is released, the switch rises in a state in which the length is changed, and the first and second drive bodies are coupled to each other by the restoring force of the drive elastic body to fix the variable leg. can

The variable leg may be a wheel coupled to the lower end.

The switch is located on the lower side of the pressing unit that the pedestrian applies pressure, the pressing wing extending from both sides of the pressing unit, and a switching elastic body coupled between the pressing wing and the upper side of the leg body, the pressing unit and a stepped portion formed at a lower end of the inclined portion and positioned to correspond to the upper inner surface of the driving body.

The driving elastic body may be coupled between an outer surface of the driving body and an inner surface of the leg body in a region corresponding to a movement section of the switch inclined portion.

The driving elastic body may be coupled between an outer surface of the driving body and an inner surface of the leg body in a region corresponding to the length of the coupling part.

In addition, in order to solve the above problem, the present invention provides a sensor controller for determining the walking state of the pedestrian by sensing the distance to the pedestrian or sensing the angle of the road surface in the height control walking aid; and a driving control unit for controlling the driving motor or power according to the determination of the sensor control unit, and calculating the distance to the pedestrian, the walking direction, or the speed of the pedestrian to adjust or stop the speed. A control system can be provided.

The height adjustment walking aid control system may include a communication unit for monitoring and providing the movement path of the pedestrian.

The height-adjustable walking aid and its control system according to an embodiment of the present invention have the advantage of being able to adjust the height according to stairs or slopes and light-weight, and have an automatic control function to ensure safety and psychological stability of walking on slopes. can Furthermore, it is possible to prevent accidents on walking of the elderly, and to induce safe walking, there is an effect that can solve social isolation.

1 is a cross-sectional view showing a part of a height-adjustable walking aid according to an embodiment of the present invention;
2 and 3 are side views showing the operation process of the height-adjustable walking aid according to an embodiment of the present invention;
4 is a control flowchart illustrating a control system of a height-adjustable walking aid according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The embodiments introduced below are provided as examples so that the spirit of the present invention can be sufficiently conveyed to those skilled in the art. Accordingly, the present invention is not limited to the embodiments described below and may be embodied in other forms. In addition, in the drawings, the length, thickness, etc. of layers and regions may be exaggerated for convenience. Like reference numerals refer to like elements throughout.

1 is a cross-sectional view showing a part of a height-controlled walking aid according to an embodiment of the present invention, FIGS. 2 and 3 are side views showing the operation process of the height-controlled walking aid according to an embodiment of the present invention, and FIG. 4 is this It is a control flow chart showing the control system of the height adjustable walking aid according to an embodiment of the present invention.

1 to 3 , the height adjustable walking aid according to an embodiment of the present invention may include a leg body 100 , a variable leg driving module 200 , and a variable leg 300 .

The height-adjustable walking aid may include two pairs of legs connected to the upper frame, as shown in FIG. 2 or FIG. 3, and one or more pairs of legs include a leg body 100, a variable leg driving module 200 and a variable leg ( 300) can be configured.

The leg body 100 has an accommodating space therein so that the variable leg driving module 200 is located therein, and one end of the variable leg 300 can be vertically moved or fixed within the variable leg driving module 200 . .

The variable leg driving module 200 may include a driving body 210 , a switch 220 , and a driving elastic body 230 . The driving body 210 is located in the receiving space, and may be composed of a combination of the first driving body 212 and the second driving body 214, and the switch 220 is the leg body 100 and the driving body. Doedoe coupled through the upper central region of the body 200 may include an inclined portion 222 formed in a downward cone shape.

The variable leg 300 may have a coupling part 310 that moves vertically or is fixed inside the driving body 210 at one end thereof. The coupling part 310 is formed with a step corresponding to a region penetrating the lower surface 217 of the driving body 210 according to the movement displacement B of the variable leg 300 to change the length of the variable leg 300 . ) can be fixed. Furthermore, the variable leg 300 may reduce the power of the pedestrian during movement by having a wheel coupled to the lower end and provide convenience to the movement.

The height-adjustable walking aid including the leg body 100 and the variable leg driving module 200 and the variable leg 300 applies a vertical pressure to the switch 220, the first driving body ( 212) and the second driving body 214 are spaced apart, and the variable leg 300 is released and the length can be changed by moving upward or downward.

In detail, the switch 220 includes a pressing part 224 for which a pedestrian applies pressure, a pressing blade part 226 extending from both sides of the pressing part 224, and the pressing blade part 226 and A switching elastic body (S) coupled between the upper surface of the leg body (100), the inclined part (222) positioned on the lower surface of the pressing part (224), and the lower end of the inclined part (222) are formed. It may include a stepped portion 228 positioned to correspond to the inner surface of the upper portion 215 of the driving body 210 . Even if an elderly person presses the periphery of the pressing part 224, the pressing blade part 226 may be positioned so that the operation of the switch 220 is possible. Pressurization and depressurization can be easily performed. In addition, it is possible to adjust the switching section (A) of the inclined portion 222 due to the stepped portion (228).

When the switch 220 is not operated, the first driving body 212 and the second driving body 214 are a driving elastic body coupled between the outer surface of the driving body 210 and the inner surface of the leg body 100 ( 230) to be fixed in close contact with each other. In this case, the position of the variable leg 300 may be fixed by the driving body 210 and the driving elastic body 230 .

When a vertical pressure is applied to the switch 220 , that is, when the pressing part 224 is pressed, the switching elastic body S is compressed, and the inclined part 222 may descend. Due to the descent of the inclined portion 222 with a larger circumference at the top, the driving body 210 receives a force from the inside to the outside, and the first driving body 212 and the second driving body 214 are spaced apart from each other and The driving elastic body 230 may be compressed. The variable leg 300, the position of which was fixed by the driving body 210 and the driving elastic body 230, is released due to the separation between the first driving body 212 and the second driving body 214, so that it can descend or rise. have.

The driving elastic body 231 may be coupled between the outer surface of the driving body 210 and the inner surface of the leg body 100 in a region corresponding to the movement section A of the switch inclined portion. Therefore, the pressure for the movement of the switch 220 before and after the pedestrian's pressurization is further helped to be transmitted to the driving elastic body 232, so that the separation and coupling of the driving body 210 according to the switching can be made easier.

Thereafter, when the vertical pressure on the switch 220 is released, the switch 220 rises in a state in which the length of the variable leg 300 is changed, and the first driving body 212 by the restoring force of the driving elastic body 230 . ) and the second driving body 214 may be coupled to fix the variable leg 300 . When the vertical pressure on the switch 220 is released, that is, when the force pressing the switch 220 is removed, the switching elastic body S is restored and the inclined portion 222 can rise accordingly. The driving body 210 receives a force from the outside due to the rise of the inclined portion 222 with a larger circumference and the restoration of the driving elastic body 230, and the first driving body 212 and the second driving body 214 may be tangent to each other. The variable leg 300 whose length is changed by the driving body 210 and the driving elastic body 230 may be fixed to a variable length due to the combination of the first driving body 212 and the second driving body 214 . .

Furthermore, the driving elastic body 232 may be coupled between the outer surface of the driving body 210 and the inner surface of the leg body 100 in a region B corresponding to the length of the coupling part 310 . Accordingly, it is possible to further assist in fixing the variable leg 300 . Therefore, the length of the variable leg 300 may be changed by one switching operation of pressurization and pressure release.

For example, when the variable leg 300 is positioned on the front pair of the height adjustable walking aid as shown in FIG. 3, the pair of variable legs 300 is positioned on the upper surface of the first step, and the switch 220 is pressed, The coupling portion 310 of the variable leg 300 rises so that the length of the front leg may be reduced. Alternatively, if the variable leg 300 is positioned on the rear pair of the height-adjustable walking aid as shown in FIG. 2, the pair of variable legs 300 is positioned on the ground in front of the first step, and when the switch is pressed, the variable leg 300 The coupling portion 310 of the lowering may extend the length of the rear leg. Due to this, the variable length B may correspond to the height of the stairs.

Accordingly, the variable length can be fixed by one switching operation described above, and the pedestrian can safely walk up the stairs as shown in FIG. 2 or FIG. 3 . As another example, the case of going down the stairs may be performed in the same manner as described above, and it is possible to walk while adjusting the length of the variable leg 300 by a switching operation even on an inclined road.

When the switch 220 is operated again on the last step or on the flat ground, that is, when the pressurizing part 224 is pressed, the length of the variable leg 300 is changed by one switching operation and can be changed to a shape suitable for the flat ground.

Therefore, the height-adjustable walking aid according to an embodiment of the present invention can adjust the height according to stairs or slopes, and has the advantage of being lightweight, and can prevent accidents on walking of the elderly, and further induce safe walking and social isolation has the effect of resolving the

In the height adjustable walking aid control system according to another embodiment of the present invention, in the height adjustable walking aid described above, the sensor controller and the sensor for determining the walking state of the pedestrian by sensing the distance to the pedestrian or sensing the angle of the road surface It includes a driving controller for controlling the driving motor or electric power according to the determination of the controller, and may adjust the speed or stop the speed by calculating the distance to the pedestrian, the walking direction, or the speed of the pedestrian. This makes it possible to perform the automatic brake function to help prevent the speed from becoming too fast on a downhill road. In addition, on an uphill road, the walking aid can move forward on its own with a slight push, making it easier for elderly people with relatively weak strength to walk more smoothly. can help

When the height adjustment walking aid control system according to another embodiment of the present invention is described with reference to FIG. 4 , when the pedestrian's walking start is detected, the torque can be measured through the sensor (S110A), and at the same time, the The interval may be measured in real time (S110B). For example, the torque may be measured through the gyro angular velocity sensor, and the distance between the pedestrian and the height control walking aid may be continuously detected using a distance measuring sensor such as an ultrasonic sensor.

The measured torque value may be converted into a voltage (S120A), and the interval between the pedestrian and the height-controlled walking aid may be compared with a threshold value (S120B). If the distance between the height-controlled walker and the pedestrian is greater than or equal to the threshold, it is determined that the pedestrian has moved away from the height-controlled walker, and after stopping the movement of the height-controlled walker (S140), it can be controlled to stand still . Therefore, the operation can be stopped until the pedestrian arrives at the corresponding seat.

In this case, the height adjustable walking aid may be equipped with a motor such as a step motor, and the height adjustable walking aid control system may include a motor control unit for driving the step motor, and the motor control unit may be connected to the sensor control to control the motor. can be controlled Furthermore, the height adjustable walking aid control system may also include a power supply unit for providing power required for driving and controlling the motor and the sensor. For example, the power supply unit has a rated voltage of 12V lithium-ion battery, can provide power to the motor and the Atmega board for motor control, and also provides power to chips or sensors using different voltages through it, including the regulator. can provide In addition, it is possible to provide power by providing a power generation module connected to the wheel of the height adjustable walking aid as a power supply. Furthermore, the MCU of the Atmega board can be used to control the PWM data of the motor and to measure the distance and direction values of the gyro angular velocity sensor and the ultrasonic sensor.

Thereafter, the converted voltage value is compared with the 0V value (S130), and when the measured value is 0V, the movement can be stopped (S140). When it is measured as 0V, it means that the pedestrian has stopped moving, so the height-adjustable walker can be stopped accordingly. In addition, if it is not 0V, it means that it is continuously moving, so it is possible to continuously sense a distance from a pedestrian and perform a movement operation.

Next, the angular velocity may be measured (S150A), and at the same time the inclination (S150B) may be measured.

Then, a compensation value of the angular velocity may be calculated according to the measured angular velocity value (S160A), and a reverse torque and an angular velocity compensation value due to the measured gradient value may be calculated (S160B).

Next, a driving control signal may be generated according to the compensation value (S170), a motor may be driven according to the driving control signal (S180), and movement assistance of a pedestrian may be performed. That is, by calculating the distance to the pedestrian, the direction of the pedestrian, the speed of the pedestrian, etc. through the processes of S150 to S180, the appropriate motor speed can be obtained and the movement speed of the height-adjusting walking aid can be appropriately adjusted, and the angle is sharply inclined. In case of loss or if the user does not apply force to the handle or misses it, a compensation value is calculated and can be stopped.

Furthermore, the height adjustment walking aid control system may include a communication unit that monitors and provides the movement path of the pedestrian. Accordingly, the pedestrian's gait pattern may be calculated and provided to a separate terminal, the pedestrian's loitering due to dementia may be determined, and may be provided to the guardian in real time.

The height-adjustable walking aid and its control system according to an embodiment of the present invention have the advantage of being able to adjust the height according to stairs or slopes and light-weight, and have an automatic control function to ensure safety and psychological stability of walking on slopes. can Furthermore, it is possible to prevent accidents on walking of the elderly, and to induce safe walking, there is an effect that can solve social isolation.

Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art can variously modify and change the present invention within the scope without departing from the spirit and scope of the present invention as set forth in the claims below. You will understand that it can be done.

100; leg body
200; Variable leg drive module
210; drive body
212; 1st drive body
214; 2nd drive body
220; switch
222; slope
224; pressurized part
226; pressurized wing
228; step
S; switching elastomer
230; drive elastomer
300; adjustable leg
310; joint

Claims (8)

a leg body having an accommodating space therein;
A driving body positioned in the receiving space and composed of a combination of a first driving body and a second driving body, the leg body and an inclined plane coupled through the upper central region of the driving body, the outer surface of which is formed in a downward conical shape a variable-leg driving module including a switch including a part, and a driving elastic body coupled between an outer surface of the driving body and an inner surface of the leg body; and
and a variable leg formed at one end of a coupling part that is vertically movable or fixed inside the driving body;
When the switch is not operated by the driving elastic body, the first driving body and the second driving body are fixed in close contact with each other, and the position of the variable leg is fixed by the driving body and the driving elastic body,
When a vertical pressure is applied to the switch, the first driving body and the second driving body are spaced apart due to the inclination portion, and the variable leg is released and the length is changed by moving upward or downward,
The switch is located on the lower side of the pressing part, the pressing part to which the pedestrian applies pressure, the pressing part extending from both sides of the pressing part, the switching elastic body coupled between the pressing blade part and the upper side of the leg body, and the pressing part and a step portion formed at the lower end of the inclined portion to correspond to the upper inner surface of the driving body and to adjust the switching section of the inclined portion,
a sensor controller for sensing a distance from a pedestrian or sensing an angle of a road surface to determine a pedestrian's walking state; and a driving control unit for controlling the driving motor or power according to the determination of the sensor control unit, and a height adjustment walking aid control system for adjusting or stopping the speed by calculating the distance to the pedestrian, the walking direction, or the speed of the pedestrian A height-adjustable walking aid, characterized in that.
The method of claim 1,
In the variable leg, when the vertical pressure on the switch is released, the switch rises in a state in which the length is changed, and the first and second driving bodies are coupled to each other by the restoring force of the driving elastic body to fix the variable leg. A height-adjustable walking aid.
The method of claim 1,
The variable leg, height-adjustable walking aid, characterized in that the wheel is coupled to the lower end.
delete The method of claim 1,
The driving elastic body is a height-adjustable walking aid, characterized in that coupled between the outer surface of the driving body and the inner surface of the leg body in a region corresponding to the movement section of the inclination portion of the switch.
The method of claim 1,
The driving elastic body is a height-adjustable walking aid, characterized in that coupled between the outer surface of the driving body and the inner surface of the leg body in a region corresponding to the length of the coupling portion.
delete The method of claim 1,
The height-adjustable walking aid control system, the height-adjustable walking aid comprising a communication unit for monitoring and providing the movement path of the pedestrian.

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